Tracking System Using Field Mapping
First Claim
1. A method comprising:
- securing multiple sets of current injecting electrodes to an organ in a patient'"'"'s body;
causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ;
in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes,determining expected signal measurements of the field inside the organ using a pre-determined model of the field; and
determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.
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Accused Products
Abstract
In some aspects, a method includes (i) securing multiple sets of current injecting electrodes to an organ in a patient'"'"'s body, (ii) causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ, (iii) in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes, (iv) determining expected signal measurements of the field inside the organ using a pre-determined model of the field, and (v) determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field.
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Citations
48 Claims
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1. A method comprising:
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securing multiple sets of current injecting electrodes to an organ in a patient'"'"'s body; causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ; in response to current flow caused by the multiple sets of current injecting electrodes, measuring the field at each of one or more additional electrodes, determining expected signal measurements of the field inside the organ using a pre-determined model of the field; and determining a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field. - View Dependent Claims (6, 7, 18, 19)
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2. The method of 1, wherein determining the position of the one or more additional electrodes in the organ based on measurements made by the additional electrodes and the determined expected signal measurements of the field comprises solving an optimization problem that minimizes a collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.
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3. The method of 2, wherein the estimate for each of the respective measured signals comprises a differentiable function.
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4. The method of 1, wherein the one or more additional electrodes comprise one or more electrodes used for delivering ablation energy for ablating tissue of the organ.
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5. The method of 1, wherein the one or more additional electrodes comprise one or more electrodes used for measuring the electrical activity of the organ.
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8. The method of 7, wherein modeling the field comprises modeling the field based on physical characteristics.
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9. The method of 8, wherein modeling the field based on physical characteristics comprises using Laplace'"'"'s equation.
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10. The method of 8, wherein modeling the field based on physical characteristics comprises using Poisson'"'"'s equation.
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11. The method of 8, wherein modeling the field based on physical characteristics comprises modeling a homogeneous medium.
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12. The method of 8, wherein modeling the field based on physical characteristics comprises modeling an inhomogeneous medium.
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13. The method of 7, wherein modeling of the field further comprises representing the model using a function that correlates field measurements with position coordinates.
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14. The method of 1, wherein the pre-determined model of the field comprises a field map.
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15. The method of 14, wherein the field map is a function that correlates the expected signal measurements with position coordinates within the organ.
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16. The method of 15, wherein the function is a differentiable function.
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17. The method of 1, wherein measuring the field comprises measuring potentials.
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20. A system comprising:
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multiple sets of current injecting electrodes configured to be secured to an organ in a patient'"'"'s body; one or more additional electrodes configured to be positioned within the organ in the patient'"'"'s body; an electronic control system coupled to the multiple sets of current injecting electrodes and the one or more additional electrodes, the electronic control system being configured to; cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ; in response to current flow caused by the multiple sets of current injecting electrodes, measure the field at each of one or more additional electrodes, a processing system coupled to the electronic system and configured to; determine expected signal measurements of the field inside the organ using a pre-determined model of the field; and determine a position of each of the one or more additional electrodes in the organ based on the measurements made by the additional electrodes and the determined expected signal measurements of the field. - View Dependent Claims (24)
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21. The system of 20, wherein the processing system is configured to solve an optimization problem that minimizes a collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.
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22. The system of 20, wherein the one or more additional electrodes comprise one or more electrodes used for delivering ablation energy for ablating tissue of the organ.
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23. The system of 20, wherein the one or more additional electrodes comprise one or more electrodes used for measuring the electrical activity of the organ.
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25. A method comprising:
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securing at least three sets of current injecting electrodes to an organ in a patient'"'"'s body; causing current to flow among the multiple sets of current injecting electrodes to generate a field in the organ; using a multi-electrode array located on a multi-electrode array catheter in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes; measuring the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array; modeling the field using the measurements and the positions; determining expected signal measurements of the field at additional locations within the organ based on the model of the field; and determining a position of one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field. - View Dependent Claims (40, 41, 42, 43, 44)
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26. The method of 25, further comprising removing multi-electrode array catheter from the organ prior to determining the position of one or more additional electrodes in the organ.
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27. The method of 25, wherein the one or more additional electrodes comprise one or more electrodes mounted on one of more additional catheters.
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28. The method of 25, wherein the one or more additional electrodes comprise one or more electrodes of the multi-electrode array.
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29. The method of 25, wherein modeling the field based on physical characteristics comprises using Laplace'"'"'s equation.
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30. The method of 25, wherein modeling the field comprises modeling the field based on physical characteristics.
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31. The method of 30, wherein modeling the field based on physical characteristics comprises using Poisson'"'"'s equation.
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32. The method of 30, wherein modeling the field based on physical characteristics comprises modeling a homogeneous medium.
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33. The method of 30, wherein modeling the field based on physical characteristics comprises modeling an inhomogeneous medium.
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34. The method of 30, wherein modeling of the field further comprises representing the model using a function that correlates field measurements with position coordinates.
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35. The method of 25, wherein the additional locations within the organ comprise positions within the organ where the field was not measured.
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36. The method of 35, wherein the positions within the organ where field was not measured comprise positions that are more than 5 mm away from positions where the field was measured.
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37. The method of 35, wherein the positions within the organ where field was not measured comprise positions that are not lying between positions where the field was measured.
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38. The method of 37, wherein determining a position of one or more additional electrodes in the field based on measurements made by the additional electrodes and the determined expected signal measurements of the field comprises solving an optimization problem that minimizes collective difference between each of the measured signals and an estimate for each of the respective measured signals as a function of the position of the measurement.
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39. The method of 25, wherein determining expected signal measurements comprises determining expected signal measurements using a non-interpolation based calculation.
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45. A system comprising:
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at least three sets of current injecting electrodes configured to be secured to an organ in a patient'"'"'s body; a multi-electrode array catheter comprising a multi-electrode array configured to be inserted in the organ for tracking a position of the multi-electrode array catheter relative to the current injecting electrodes; one or more additional electrodes configured to be inserted in the organ; an electronic control system coupled to the at least three sets of current injecting electrodes, to the multi-electrode array catheter, and to the one or more additional electrodes, the electronic control system being configured to; cause current to flow among the multiple sets of current injecting electrodes to generate a field in the organ; measure the field generated by the current injecting electrodes in multiple locations in the organ using the multi-electrode array; a processing system coupled to the electronic system and configured to; model the field using the measurements and the positions; determine expected signal measurements of the field at additional locations within the organ based on the model of the field; and determine a position of the one or more additional electrodes in the organ relative to the current injecting electrodes based on measurements made by the additional electrodes and the determined expected signal measurements of the field. - View Dependent Claims (48)
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46. The system of 45, wherein the one or more additional electrodes comprise one or more electrodes mounted on one of more additional catheters.
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47. The system of 45, wherein the one or more additional electrodes comprise one or more electrodes of the multi-electrode array.
Specification